@foxglove/schemas 1.11.0 → 1.13.0

package/dist/internal/generateSdkCpp.js

@@ -36,9 +36,19 @@ function primitiveDefaultValue(type) {
 }
 function formatComment(comment, indent) {
     const spaces = " ".repeat(indent);
+    let inCodeBlock = false;
     return comment
         .split("\n")
-        .map((line) => `${spaces}/// @brief ${line}`)
+        .map((rawLine, i) => {
+        let line = rawLine;
+        if (line.trimStart().startsWith("```")) {
+            if (!inCodeBlock && line.trimStart() === "```") {
+                line = line.replace("```", "```text");
+            }
+            inCodeBlock = !inCodeBlock;
+        }
+        return i === 0 ? `${spaces}/// @brief ${line}` : `${spaces}/// ${line}`;
+    })
         .join("\n");
 }
 function toCamelCase(name) {
@@ -121,6 +131,7 @@ function generateHppSchemas(schemas, enums) {
                 switch (field.type.type) {
                     case "enum":
                         fieldType = field.type.enum.name;
+                        defaultStr = "{}";
                         break;
                     case "nested":
                         fieldType = field.type.schema.name;
@@ -134,13 +145,18 @@ function generateHppSchemas(schemas, enums) {
                 }
                 if (typeof field.array === "number") {
                     fieldType = `std::array<${fieldType}, ${field.array}>`;
+                    // std::array has no user-provided default constructor; explicit
+                    // init required for clang-tidy cppcoreguidelines-pro-type-member-init.
+                    defaultStr = " = {}";
                 }
                 else if (field.array) {
                     fieldType = `std::vector<${fieldType}>`;
                 }
                 else if (field.optional || field.type.type === "nested") {
                     fieldType = `std::optional<${fieldType}>`;
-                    if (field.optional && defaultStr !== "") {
+                    // Override any inner-type default (e.g. uint32_t's `= 0`) so the
+                    // optional defaults to disengaged rather than engaged-with-default.
+                    if (defaultStr !== "") {
                         defaultStr = " = std::nullopt";
                     }
                 }
@@ -210,7 +226,14 @@ function generateHppSchemas(schemas, enums) {
         /// @brief Find out if any sinks have been added to the channel.
         ///
         /// @return True if sinks have been added to the channel, false otherwise.
-        [[nodiscard]] bool has_sinks() const noexcept;
+        [[nodiscard]] bool hasSinks() const noexcept;
+
+        /// @deprecated Use hasSinks() instead.
+        // NOLINTNEXTLINE(readability-identifier-naming)
+        [[deprecated("Use hasSinks() instead")]]
+        [[nodiscard]] bool has_sinks() const noexcept {
+          return hasSinks();
+        }
 
         ${schema.name}Channel(const ${schema.name}Channel& other) noexcept = delete;
         ${schema.name}Channel& operator=(const ${schema.name}Channel& other) noexcept = delete;
@@ -249,20 +272,20 @@ function generateHppSchemas(schemas, enums) {
         "  void operator()(const foxglove_channel* ptr) const noexcept;",
         "};",
         "/// @brief A unique pointer to a C foxglove_channel pointer. For internal use only.",
-        "typedef std::unique_ptr<const foxglove_channel, ChannelDeleter> ChannelUniquePtr;",
+        "using ChannelUniquePtr = std::unique_ptr<const foxglove_channel, ChannelDeleter>;",
     ];
     const outputSections = [
         "// Generated by https://github.com/foxglove/foxglove-sdk",
         "#pragma once",
         includes.join("\n"),
         "struct foxglove_channel;",
-        "namespace foxglove::schemas {",
+        "namespace foxglove::messages {",
         structDefs.join("\n\n"),
         "#ifndef __wasm32__",
         uniquePtr.join("\n"),
         channelClasses.join("\n\n"),
         "#endif",
-        "} // namespace foxglove::schemas",
+        "} // namespace foxglove::messages",
     ].filter(Boolean);
     return outputSections.join("\n\n") + "\n";
 }
@@ -324,7 +347,7 @@ function cppToC(schema, copyTypes) {
                     return `dest.${dstName} = src.${srcName} ? reinterpret_cast<const foxglove_${toSnakeCase(field.type.schema.name)}*>(&*src.${srcName}) : nullptr;`;
                 }
                 else {
-                    return `dest.${dstName} = src.${srcName} ? arena.map_one<foxglove_${toSnakeCase(field.type.schema.name)}>(src.${srcName}.value(), ${toCamelCase(field.type.schema.name)}ToC) : nullptr;`;
+                    return `dest.${dstName} = src.${srcName} ? arena.mapOne<foxglove_${toSnakeCase(field.type.schema.name)}>(src.${srcName}.value(), ${toCamelCase(field.type.schema.name)}ToC) : nullptr;`;
                 }
         }
     });
@@ -380,7 +403,7 @@ function generateCppSchemas(schemas) {
             `uint64_t ${schema.name}Channel::id() const noexcept {`,
             "    return foxglove_channel_get_id(impl_.get());",
             "}\n\n",
-            `bool ${schema.name}Channel::has_sinks() const noexcept {
+            `bool ${schema.name}Channel::hasSinks() const noexcept {
         return foxglove_channel_has_sinks(impl_.get());
       }
       `,
@@ -438,7 +461,7 @@ function generateCppSchemas(schemas) {
     const systemIncludes = ["#include <optional>", "#include <cstring>"];
     const includes = [
         "#include <foxglove/error.hpp>",
-        "#include <foxglove/schemas.hpp>",
+        "#include <foxglove/messages.hpp>",
         "#include <foxglove/arena.hpp>",
         "#include <foxglove/schema.hpp>",
         "#ifndef __wasm32__",
@@ -450,7 +473,7 @@ function generateCppSchemas(schemas) {
         "#include <foxglove-c/foxglove-c.h>",
         includes.join("\n"),
         systemIncludes.join("\n"),
-        "namespace foxglove::schemas {",
+        "namespace foxglove::messages {",
         conversionFuncDecls.join("\n"),
         "#ifndef __wasm32__",
         channelUniquePtr.join("\n"),
@@ -459,7 +482,7 @@ function generateCppSchemas(schemas) {
         conversionFuncs.join("\n"),
         encodeImpls.join("\n"),
         getSchemaImpls.join("\n"),
-        "} // namespace foxglove::schemas",
+        "} // namespace foxglove::messages",
     ];
     return outputSections.join("\n\n") + "\n";
 }

package/dist/internal/generateSdkCpp.js.map

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package/dist/internal/schemas.d.ts

@@ -5,6 +5,7 @@ export declare const foxgloveMessageSchemas: {
     CircleAnnotation: FoxgloveMessageSchema;
     Color: FoxgloveMessageSchema;
     CompressedImage: FoxgloveMessageSchema;
+    CompressedPointCloud: FoxgloveMessageSchema;
     CompressedVideo: FoxgloveMessageSchema;
     CylinderPrimitive: FoxgloveMessageSchema;
     CubePrimitive: FoxgloveMessageSchema;
@@ -46,6 +47,7 @@ export declare const foxgloveMessageSchemas: {
     TriangleListPrimitive: FoxgloveMessageSchema;
     Vector2: FoxgloveMessageSchema;
     Vector3: FoxgloveMessageSchema;
+    Velocity3: FoxgloveMessageSchema;
 };
 export declare const foxgloveEnumSchemas: {
     LineType: FoxgloveEnumSchema;

package/dist/internal/schemas.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../src/internal/schemas.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AAszDpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CA+ClC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}
+{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../src/internal/schemas.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AA04DpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAiDlC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}

package/dist/internal/schemas.js

@@ -154,6 +154,31 @@ const Vector3 = {
         },
     ],
 };
+const Velocity3 = {
+    type: "message",
+    name: "Velocity3",
+    description: "A velocity vector in 3D space",
+    fields: [
+        {
+            name: "x",
+            type: { type: "primitive", name: "float64" },
+            description: "x component",
+            defaultValue: 0,
+        },
+        {
+            name: "y",
+            type: { type: "primitive", name: "float64" },
+            description: "y component",
+            defaultValue: 0,
+        },
+        {
+            name: "z",
+            type: { type: "primitive", name: "float64" },
+            description: "z component",
+            defaultValue: 0,
+        },
+    ],
+};
 const Point2 = {
     type: "message",
     name: "Point2",
@@ -947,6 +972,15 @@ For each \`encoding\` value, the \`data\` field contains image pixel data serial
   - Pixel channel values are represented as unsigned 8-bit integers.
   - U and V values are shared between horizontal pairs of pixels. Each pair of output pixels is encoded as [Y1, U, Y2, V].
   - \`step\` must be greater than or equal to \`width\` * 2.
+- \`nv12\`:
+  - Pixel colors are decomposed into [Y'UV](https://en.wikipedia.org/wiki/Y%E2%80%B2UV) channels using 4:2:0 chroma subsampling. The data is stored in [NV12](https://www.kernel.org/doc/html/v4.10/media/uapi/v4l/pixfmt-nv12.html) semi-planar layout with two contiguous planes: a Y (luma) plane followed by an interleaved UV (chroma) plane.
+  - All channel values are represented as unsigned 8-bit integers.
+  - Both planes use \`step\` as their row stride.
+  - The Y plane contains one luma value per pixel (\`step\` * \`height\` bytes).
+  - The UV plane contains interleaved U, V chroma pairs, subsampled by a factor of 2 in both dimensions (\`width\`/2 pairs per row, \`height\`/2 rows, \`step\` * \`height\`/2 bytes). Each U, V pair is shared by a 2x2 block of pixels.
+  - \`width\` and \`height\` must be even.
+  - \`step\` must be greater than or equal to \`width\`.
+  - Total \`data\` length is \`step\` * \`height\` * 3/2 bytes.
 - \`rgb8\`:
   - Pixel colors are decomposed into Red, Green, and Blue channels.
   - Pixel channel values are represented as unsigned 8-bit integers.
@@ -974,7 +1008,7 @@ For each \`encoding\` value, the \`data\` field contains image pixel data serial
   - Pixel colors are decomposed into Red, Blue and Green channels.
   - Pixel channel values are represented as unsigned 8-bit integers, and serialized in a 2x2 bayer filter pattern.
   - The order of the four letters after \`bayer_\` determine the layout, so for \`bayer_wxyz8\` the pattern is:
-  \`\`\`plaintext
+  \`\`\`text
   w | x
   - + -
   y | z
@@ -1132,6 +1166,38 @@ const PackedElementField = {
         },
     ],
 };
+const CompressedPointCloud = {
+    type: "message",
+    name: "CompressedPointCloud",
+    description: "A compressed point cloud. A decoder for `format` must decompress `data`, using metadata stored in the compressed payload to recover point positions and any additional per-point attributes. The decoded point cloud must include at least 2 coordinate fields from `x`, `y`, and `z`; `red`, `green`, `blue`, and `alpha` are optional for customizing each point's color.",
+    fields: [
+        {
+            name: "timestamp",
+            type: { type: "nested", schema: Timestamp },
+            description: "Timestamp of point cloud",
+        },
+        {
+            name: "frame_id",
+            type: { type: "primitive", name: "string" },
+            description: "Frame of reference",
+        },
+        {
+            name: "pose",
+            type: { type: "nested", schema: Pose },
+            description: "The origin of the point cloud relative to the frame of reference",
+        },
+        {
+            name: "data",
+            type: { type: "primitive", name: "bytes" },
+            description: "Compressed point cloud data for exactly one point cloud, including any format-specific metadata needed to describe the decoded point attributes.",
+        },
+        {
+            name: "format",
+            type: { type: "primitive", name: "string" },
+            description: "Point cloud compression format.\n\nSupported values: `draco` ([Google Draco](https://google.github.io/draco/)).",
+        },
+    ],
+};
 const Grid = {
     type: "message",
     name: "Grid",
@@ -1519,6 +1585,22 @@ const LocationFix = {
             description: "If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance.",
             protobufFieldNumber: 5,
         },
+        {
+            name: "heading",
+            type: { type: "primitive", name: "float64" },
+            description: "Heading (yaw angle), in radians, measured clockwise from north",
+            protobufFieldNumber: 10,
+            flatbuffersFieldNumber: 9,
+            optional: true,
+        },
+        {
+            name: "velocity",
+            type: { type: "nested", schema: Velocity3 },
+            description: "Velocity in local East-North-Up (ENU) frame in m/s",
+            protobufFieldNumber: 11,
+            flatbuffersFieldNumber: 10,
+            optional: true,
+        },
         {
             name: "color",
             type: { type: "nested", schema: Color },
@@ -1696,25 +1778,25 @@ const JointState = {
         {
             name: "position",
             type: { type: "primitive", name: "float64" },
-            description: "Joint position. Radians for revolute joints, meters for prismatic joints. Use NaN to indicate that the value is not present if the message definition does not support optional fields.",
+            description: "Joint position. Radians for revolute joints, meters for prismatic joints.",
             optional: true,
         },
         {
             name: "velocity",
             type: { type: "primitive", name: "float64" },
-            description: "Joint velocity. Rad/s for revolute joints, m/s for prismatic joints. Use NaN to indicate that the value is not present if the message definition does not support optional fields.",
+            description: "Joint velocity. Rad/s for revolute joints, m/s for prismatic joints.",
             optional: true,
         },
         {
             name: "acceleration",
             type: { type: "primitive", name: "float64" },
-            description: "Joint acceleration. Rad/s² for revolute joints, m/s² for prismatic joints. Use NaN to indicate that the value is not present if the message definition does not support optional fields.",
+            description: "Joint acceleration. Rad/s² for revolute joints, m/s² for prismatic joints.",
             optional: true,
         },
         {
             name: "effort",
             type: { type: "primitive", name: "float64" },
-            description: "Joint effort (force or torque). Nm for revolute joints, N for prismatic joints. Use NaN to indicate that the value is not present if the message definition does not support optional fields.",
+            description: "Joint effort (force or torque). Nm for revolute joints, N for prismatic joints.",
             optional: true,
         },
     ],
@@ -1743,6 +1825,7 @@ exports.foxgloveMessageSchemas = {
     CircleAnnotation,
     Color,
     CompressedImage,
+    CompressedPointCloud,
     CompressedVideo,
     CylinderPrimitive,
     CubePrimitive,
@@ -1784,6 +1867,7 @@ exports.foxgloveMessageSchemas = {
     TriangleListPrimitive,
     Vector2,
     Vector3,
+    Velocity3,
 };
 exports.foxgloveEnumSchemas = {
     LineType,

package/dist/internal/schemas.js.map

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